following behavior

• One robot is leader (nominal speed = 7.0), one is follower (nominal speed is variable)

if (following) {

getLossRate(&shortLossRate);

if (shortLossRate > 80)

nominalSpeed = 9.0;

else if (shortLossRate < 20)

nominalSpeed = 5.0;

else

nominalSpeed = 7.0;

} else {

// leader

nominalSpeed = 7.0;

}

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